Spatially-distributed coverage optimization and control with limited-range interactions

TL;DR

This paper develops distributed algorithms for mobile agent deployment and coverage optimization considering limited sensing ranges, ensuring convergence through Voronoi and proximity graph-based methods, validated by simulations.

Contribution

Introduces novel distributed coverage algorithms that incorporate limited-range interactions and provide convergence guarantees using Voronoi and proximity graph models.

Findings

Algorithms converge under specified conditions

Distributed approach reduces communication overhead

Simulations demonstrate effectiveness and robustness

Abstract

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.